driver_svh::SVHHomeSettings Struct Reference

data sctructure for home positions More...

#include <SVHHomeSettings.h>

List of all members.

Public Member Functions
	SVHHomeSettings ()
	SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after.
	SVHHomeSettings (const int &direction_, const float &minimumOffset_, const float &maximumOffset_, const float &idlePosition_, const float &rangeRad_, const float &resetCurrentFactor_)
	SVHHomeSettingsn Constructor for the home settings, providing each value individually.
	SVHHomeSettings (const std::vector< float > &home_settings)
	SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros.
Public Attributes
int	direction
	Movement direction of the finger +1 or -1 home in positive or negative direction.
float	idlePosition
	Idle position to move the fingers to after initialization.
float	maximumOffset
	Maximum reachable tick limt, given as an offset from the hard stop (soft limit)
float	minimumOffset
	Minimum reachable tick limit, given as offset from the hard stop (soft limit)
float	rangeRad
float	resetCurrentFactor
	The resetCurrentFactor indicates how much of the maximum allowed current (of the controller) must be present in order to decide that a hard stop was reached.

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Detailed Description

data sctructure for home positions

Definition at line 35 of file SVHHomeSettings.h.

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Constructor & Destructor Documentation

driver_svh::SVHHomeSettings::SVHHomeSettings

(

)

[inline]

SVHHomeSettings Default constructor initializing empty homeSettings. This is not usefull and should be filled immediately after.

Definition at line 56 of file SVHHomeSettings.h.

driver_svh::SVHHomeSettings::SVHHomeSettings	(	const int &	direction_,
		const float &	minimumOffset_,
		const float &	maximumOffset_,
		const float &	idlePosition_,
		const float &	rangeRad_,
		const float &	resetCurrentFactor_
	)		[inline]

SVHHomeSettingsn Constructor for the home settings, providing each value individually.

Parameters:

direction_	Reset direction +1 oder -1
minimumOffset_	soft stop minimum value
maximumOffset_	soft stop maximum value
idlePosition_	position to go to after reset
rangeRad_	range of moevement in rad

Definition at line 73 of file SVHHomeSettings.h.

driver_svh::SVHHomeSettings::SVHHomeSettings

(

const std::vector< float > &

home_settings

)

[inline]

SVHHomeSettings Convenience constructor to easily construct home settings out of a singe vector. Values are evaluated in order and if the vector is to short, values will be filles with zeros.

Parameters:

home_settings

vector of floats containing the values for the home settings. If the vector is to short the remaining values will be filled with zeros. If it is to long only as much elements as there are values in HomeSettings will be evaluated

Definition at line 91 of file SVHHomeSettings.h.

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Member Data Documentation

int driver_svh::SVHHomeSettings::direction

Movement direction of the finger +1 or -1 home in positive or negative direction.

Definition at line 38 of file SVHHomeSettings.h.

float driver_svh::SVHHomeSettings::idlePosition

Idle position to move the fingers to after initialization.

Note:

This position should be within the min and max offset positions.

Definition at line 44 of file SVHHomeSettings.h.

float driver_svh::SVHHomeSettings::maximumOffset

Maximum reachable tick limt, given as an offset from the hard stop (soft limit)

Definition at line 42 of file SVHHomeSettings.h.

float driver_svh::SVHHomeSettings::minimumOffset

Minimum reachable tick limit, given as offset from the hard stop (soft limit)

Definition at line 40 of file SVHHomeSettings.h.

float driver_svh::SVHHomeSettings::rangeRad

The total angle in [rad] that is used by the finger i.e. the anlge between one (soft) stop and the other This value will be used for calculation of the ticks

Note:

Currently we use the HARD STOP to HARD STOP angle but map that to a range of ticks from SOFT STOP to SOFT STOP this might be the wrong approach

as we therefore would get an angle of zero event hough the finger might be standing at 5k ticks. However by using this method we can asure the Range of the

input to be of constant size. This night change to better reflect the real rad value

Definition at line 49 of file SVHHomeSettings.h.

float driver_svh::SVHHomeSettings::resetCurrentFactor

The resetCurrentFactor indicates how much of the maximum allowed current (of the controller) must be present in order to decide that a hard stop was reached.

Note:

Values betweeen 0.0 and 1.0 are allowed

Definition at line 51 of file SVHHomeSettings.h.

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The documentation for this struct was generated from the following file:

• SVHHomeSettings.h